导　　师： 康尔良

学科专业： 080804

授予学位： 硕士

作　　者： ;

机构地区： 哈尔滨理工大学

摘　　要： 交流伺服技术是研制开发各种先进的机电一体化设备,如工业机器人、数控机床、加工中心等的关键性技术,但是要提高交流伺服系统的控制性能关键在于伺服控制器对电机动态和静态响应的控制,要获得良好的电机动、静态性能关键在于伺服控制器的控制算法。为此,本文开展了主要针对电机控制算法中的PID控制器参数整定算法研究。研究工作是基于黑龙江省科技攻关项目为支撑。 本论文在查阅大量文献资料的基础上,掌握了系统构成和基本控制原理,并分析了国内交流伺服存在的问题,设计了基于TI公司电机数字化控制芯片TMS320F2812的交流伺服控制器的控制单元;基于三菱公司智能化功率器件IPM设计了控制器的功率单元;以及电源单元和相关电路的保护单元。 基于电机矢量控制原理,构建了永磁同步电机的矢量控制模型,在原有研究的基本PID控制基础上,根据模糊控制的基本原理,研究了应用于电机控制的模糊参数自整定PID控制器设计原理,构建模糊参数自整定PID控制器的数学模型,并进行该系统的仿真研究和实际应用程序设计。 本文的重点是阐述模糊参数自整定PID控制器的设计原理和方法,利用基于模糊参数自整定PID控制器的交流伺服系统仿真模型,应用Matlab//Simulink仿真软件平台验证模型和算法的正确性,并与常规PID控制性能进行对比分析。在实际硬件平台验证了本文提出算法的可行性和正确性。 通过仿真和实际结果对比得出结论,模糊参数自整定PID控制器可以提高交流伺服系统的动态和静态性能。 AC servo technology is the critical technology when we study all kinds of mechatronic equitpments like numerical control machine and industrial robot, etc. In order to improve the control capability of AC servo system, we must improve the dynamic and static response of motor, which mainly lies on the control algorithm in servo controller. So, this dissertation focuses on the study of parameter adjusting of PID controller in motor control algorithm. And the study gets support from Heilongjiang province scientific and technological project. After consulting a great deal of literature, this dissertation analyzes the current problem in domestic AC servo system, and complete the design of digital control centre using TMS320F2812 of TI company, also complete the power unit using IPM as power conversion device; in addition, protection circuit and power source unit are realized. Construct the model of PMSM based on vector control. And construct the simulation model of fuzzy self-adjusting PID controller based on the study of regular PID controller. Then complete the design of practice procedure. Design of fuzzy self-adjusting PID controller is the keynote of this thesis. It is introduced by the AC servo system simulation model, and the validity has been proved by comparing with regular PID controller. According to the experiment results, the feasibility of the algorithm can be validated. Fuzzy self-adjusting PID controller can improve the dynamic and static capability of AC servo system, which can be validated by comparing the experiment results with the simulation results.

关 键 词： 矢量控制 模糊控制 控制器 参数自整定

领　　域： [电气工程]